Maths

Collection of mathematical functions. More...

Collaboration diagram for Maths:

Functions
double	iCub::ctrl::dot (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
	Returns the dot product between two vectors given in the form: matrix(:,col).
double	iCub::ctrl::norm2 (const yarp::sig::Matrix &M, int col)
	Returns the squared norm of the vector given in the form: matrix(:,col).
double	iCub::ctrl::norm (const yarp::sig::Matrix &M, int col)
	Returns the norm of the vector given in the form: matrix(:,col).
yarp::sig::Vector	iCub::ctrl::cross (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
	Returns the cross product between two vectors given in the form: matrix(:,col).
yarp::sig::Vector	iCub::ctrl::Dcross (const yarp::sig::Vector &a, const yarp::sig::Vector &Da, const yarp::sig::Vector &b, const yarp::sig::Vector &Db)
	Returns the derivatice of cross product between two vectors.
yarp::sig::Vector	iCub::ctrl::Dcross (const yarp::sig::Matrix &A, const yarp::sig::Matrix &DA, int colA, const yarp::sig::Matrix &B, const yarp::sig::Matrix &DB, int colB)
	Returns the derivative of cross product between two vectors given in the form: matrix(:,col).

Detailed Description

Collection of mathematical functions.

Author

Ugo Pattacini, Serena Ivaldi, Francesco Nori

Copyright (C) 2010 RobotCub Consortium

CopyPolicy: Released under the terms of the GNU GPL v2.0.

Function Documentation

cross()

yarp::sig::Vector iCub::ctrl::cross	(	const yarp::sig::Matrix &	A,
		int	colA,
		const yarp::sig::Matrix &	B,
		int	colB
	)

Returns the cross product between two vectors given in the form: matrix(:,col).

Parameters

A	is the first input vector given as a=A(:,colA).
colA	is the column for the first vector.
B	is the second input vector given as b=B(:,colB).
colB	is the column for the second vector.

Returns

axb.

Dcross() [1/2]

yarp::sig::Vector iCub::ctrl::Dcross	(	const yarp::sig::Matrix &	A,
		const yarp::sig::Matrix &	DA,
		int	colA,
		const yarp::sig::Matrix &	B,
		const yarp::sig::Matrix &	DB,
		int	colB
	)

Returns the derivative of cross product between two vectors given in the form: matrix(:,col).

Parameters

A	is the first input vector given as a=A(:,colA).
DA	is the derivative of first input vector.
colA	is the column for the first vector.
B	is the second input vector given as b=B(:,colB).
DB	is the derivative of second input vector.
colB	is the column for the second vector.

Returns

D(axb).

Dcross() [2/2]

yarp::sig::Vector iCub::ctrl::Dcross	(	const yarp::sig::Vector &	a,
		const yarp::sig::Vector &	Da,
		const yarp::sig::Vector &	b,
		const yarp::sig::Vector &	Db
	)

Returns the derivatice of cross product between two vectors.

Parameters

a	is the first input vector.
Da	is the derivative of first input vector.
b	is the second input vector.
Db	is the derivative of second input vector.

Returns

D(axb).

dot()

double iCub::ctrl::dot	(	const yarp::sig::Matrix &	A,
		int	colA,
		const yarp::sig::Matrix &	B,
		int	colB
	)

Returns the dot product between two vectors given in the form: matrix(:,col).

Parameters

A	is the first input vector given as a=A(:,colA).
colA	is the column for the first vector.
B	is the second input vector given as b=B(:,colB).
colB	is the column for the second vector.

Returns

<a,b>.

norm()

double iCub::ctrl::norm	(	const yarp::sig::Matrix &	M,
		int	col
	)

Returns the norm of the vector given in the form: matrix(:,col).

Parameters

M	is the input vector given as m=M(:,col).
col	is the column for the vector.

Returns

||v||.

norm2()

double iCub::ctrl::norm2 ( const yarp::sig::Matrix &  M, int  col  )

inline

Returns the squared norm of the vector given in the form: matrix(:,col).

Parameters

M	is the input vector given as m=M(:,col).
col	is the column for the vector.

Returns

||v||^2.

Definition at line 91 of file math.h.